From 4090f63890121b6e8c99cff16100ec5c39d94039 Mon Sep 17 00:00:00 2001 From: Tristan McGinnis Date: Thu, 20 Feb 2025 15:00:17 -0600 Subject: [PATCH] Update arm node message types for anchor --- src/arm_pkg/arm_pkg/arm_node.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/arm_pkg/arm_pkg/arm_node.py b/src/arm_pkg/arm_pkg/arm_node.py index abf82e9..9333a19 100644 --- a/src/arm_pkg/arm_pkg/arm_node.py +++ b/src/arm_pkg/arm_pkg/arm_node.py @@ -142,12 +142,13 @@ class SerialRelay(Node): return - def send_cmd(self, cmd): + def send_cmd(self, msg): if self.launch_mode == 'anchor': #if in anchor mode, send to anchor node to relay - self.anchor_pub.publish(cmd) + output = String() + output.data = msg + self.anchor_pub.publish(output) elif self.launch_mode == 'arm': #if in standalone mode, send to MCU directly - self.ser.write(bytes(cmd, "utf8")) - #print(f"[Arm Wrote] {cmd}", end="") + self.ser.write(bytes(msg, "utf8")) def anchor_feedback(self, msg): self.get_logger.info(f"[Arm Anchor] {msg.data}", end="")